CN110382905A

CN110382905A - Prosthetic appliance with rotary damper

Info

Publication number: CN110382905A
Application number: CN201880013702.XA
Authority: CN
Inventors: 斯特凡·巴特洛格
Original assignee: Inventus Engineering GmbH
Current assignee: Inventus Engineering GmbH
Priority date: 2017-02-24
Filing date: 2018-02-26
Publication date: 2019-10-25
Also published as: JP6966800B2; DE102017103809A1; WO2018154117A1; EP3586032B1; EP3586032A1; US20210251781A1; US11439521B2; JP2020508159A

Abstract

Prosthetic appliance (100) with rotary damper (1), the rotary damper has shell (12), the damping shaft (3) being rotatably contained on shell, the pressure drainage mechanism (2) in shell (12) and at least one magnetic field sources (8), and pressure drainage mechanism (2) has the damping volume (60) equipped with the magneto-rheological fluid (6) as working fluid and can be operable to influence the damping of damping shaft (3) relative to the rotational motion of shell (12) whereby.Pressure drainage mechanism (2) includes at least two separating elements (4,5), will damp volume (60) whereby and be divided at least two variable chambers (61,62).One of separating element (4,5) includes the partition wall (4) for being connected to shell (12), and one of separating element (5) includes the partition wall (5) for being connected to damping shaft (3).Clearance portion (26) are formed radially being connected between the separating element (4) of shell (12) and damping shaft (3), clearance portion (27) are formed radially being connected between the separating element (5) of damping shaft (3) and shell (12), and form clearance portion (25) in the axial direction being connected between the separating element (5) of damping shaft (3) and shell (12).Here, the magnetic field (10) of magnetic field sources (8) at least quite a few pass through at least two of which described in clearance portion (25-27).

Description

Prosthetic appliance with rotary damper

The present invention relates to the prosthetic appliances with rotary damper, and wherein the rotary damper includes shell and rotatable appearance The damping shaft that is contained on shell and in the intracorporal pressure drainage mechanism of shell.It is equipped in the housing with the magnetic current unsteady flow as working fluid The damping volume of body is for influencing damping shaft relative to the pivoting action of shell or the damping of rotation.

A variety of different prosthetic appliances with damper are disclosed in the prior art, and such as knee may be implemented whereby Rotary motion damping.It is exactly in knee prosthetic appliance, required or desired braking moment is relatively high reliable to guarantee Comfortable function.Because needed for the prosthetic appliance and available pivoting angle or rotation angle it is limited, therefore it is known Rotary damper can not usually use flexibly enough or required braking moment is too small, thus braking moment can not or nothing Method is sufficiently rapidly changed or can not be adjusted to powerful.

The rotary damper and external control valve of oil-containing are the prior arts.Especially in prosthetic appliance, but also in other use On the way, it is highly advantageous that land occupation demand is small.It means that working face is small and therefore must increase operating pressure (100 bars or more), So that corresponding area pressure and and then power or torque can be generated.The shortcomings that these actuators is must accurately to manufacture very much relatively In gap to there is the high as far as possible pressure loss and and then to obtain sealing function in the component of movement.

The small sliding pair of narrow gap size and range of tolerable variance increases hydraulic and mechanical basic friction/torque, this is not Functional and respondent behavior is influenced sharply.In turn, serious mechanical wear and of short duration maintenance intermittent phase are estimated.Because It is usually directed at this time Internal periphery and rectangle or extraordinary-looking component/sealing margin and must preferably polish so as to tolerance/ Gap is accordingly good, then its cost is very high.Alternatively installation sealing element is also complicated and cost under the profile, pressure condition Intensive.Particularly difficult is the transition position of the sealing edge or such as axial profile to radial contour.In addition, the sealing Cause big basic friction or basic frictional force or torque.

Therefore, the task of the present invention is a kind of prosthetic appliance of rotary damper with simple structure is provided, thus may be used To realize the flexible modulation of damping, also allow to damp big power and torque.

The task is completed by a kind of prosthetic appliance with rotary damper with claim 1 feature.The present invention Advantageous modification be dependent claims theme.Other features and advantages of the present invention are said from general introduction and embodiment It is bright.

Prosthetic appliance of the invention includes at least one rotary damper and has shell and be rotatably housed in shell On damping shaft, in the intracorporal pressure drainage mechanism of shell and at least one magnetic field sources.Here, pressure drainage mechanism has with as workflow The damping volume of the magneto-rheological fluid of body simultaneously can be operable to influence damping of the damping shaft relative to the rotational motion of shell whereby. Here, pressure drainage mechanism include at least two separating elements, the damping volume or the intracorporal damping volume of damper shell whereby by It is divided at least two variable chambers, at least one described separating element therein includes the partition wall for being connected to shell.At least One of them described separating element includes being connected to the partition wall of damping shaft and preferably may be designed to pivot fin.Radially, (first) (radial direction) clearance portion or gap are formed being connected between the separating element of shell and damping shaft.First clearance portion Substantially axially extend.Radially, be connected between the separating element of damping shaft and shell formed another (in other words Two) (radial direction) clearance portion.Another or second clearance portion at least quite a few extend in the axial direction.In the axial direction, (or third) (axial direction) clearance portion is at least also formed being connected between the separating element of damping shaft and shell.This (or Third) clearance portion at least quite a few extend radially.Magnetic field sources magnetic field at least quite a few pass through at least two A clearance portion.

Each clearance portion can be designed to that individual gap or more than two clearance portions can be the portion of same interspace Point.

Each clearance portion has extending direction or trend and the clearance height transverse to trend.Simple axial gap portion exists Radially and/or in the circumferential extend.The clearance height extends in the axial direction.Simple radial clearance portion is in the axial direction and perhaps Also extend in the circumferential.

Here, the first and second clearance portions especially preferably extend in the axial direction substantially, and clearance height is always substantially in diameter It upwardly extends.Third space portion is especially preferably designed to axial gap portion, so that clearance height extends in the axial direction substantially.And The clearance portion extends in radial direction and/or in the circumferential substantially.

The gap or clearance portion can be respectively designed to threadiness.But each clearance portion also can have one or more curved Song is only made of curved clearance portion respectively.

Prosthetic appliance of the invention has many advantages.One remarkable advantage of prosthetic appliance of the present invention is, hinders in rotation More than two clearance portions and preferably all clearance portions in Buddhist nun's device are sealed as needed by magnetic field sources magnetic field.As a result, The gap or clearance portion can be designed to the clearance height for having sufficiently large, in order to provide small basic friction.But in addition exist The tight seal obtained in the case of active magnetic field, to allow big damping value.It does not need to select very little in order not to occur leaking Clearance height.Leakage passes through magnetic seal not instead of by gap size (clearance height) come what is prevented.

And have in the prosthetic appliance of the conventional seals in simple oil circulation, it is necessary to the choosing when strong sealing should be obtained Select the gap size of very little.Thus high basic torque when idle running and corresponding serious sealing wear are also resulted in simultaneously.This root It is avoided according to the present invention.

Magnetic field sources preferably include at least one controllable electric coil for influencing magnetic field strength.For this purpose, damping intensity and most It is good that there are also sealing intensities to be affected.Especially, significant component of magnetic field sources magnetic field at least across two clearance portions and according to Two clearance portions are at least while influenced according to magnetic field strength.By adjustable magnetic field strength, damping intensity can be adaptive Adjustment.

Using controllable electric coil, the magnetic field of expectation strength can be provided with flexible modulation.Expectation has been provided in this regard, adjusting The damping of intensity.Meanwhile especially also thus the sealing in adjusting at least two gaps and especially all radial and axial gaps is strong Degree.It rubs when the magnetic field is weak small, and is sealed by force when relative pressure or big torque substantially.Therefore it can provide than existing skill The much higher interaction of art, because not only really damping is affected, sealing is also affected.

Actually there is following braking moment acting on, is made of existing basic torque and damping torque adduction.? This, basic torque and damping torque respectively by (with time correlation and can temporally control) effective magnetic field influenced. In the case where power and small torque to be damped, lesser basic friction (basic torque) is generated with lesser magnetic field strength.? When power and larger torque wait damp, biggish basic friction (basic torque) is generated with biggish magnetic field strength.Biggish base This torque adversely affects response characteristic in corresponding biggish braking moment.Especially, in intermediate working range The ratio between the braking moment of (especially just in centre) and basic torque are greater than 2:1 and preferably greater than 5:1 and more preferably greater than 10:1.

In an especially preferred design, each clearance portion is designed to gap.These gaps can be designed to part Mutually join or is separated from each other.Then it is possible that the term " clearance portion " in the application is generally replaced with term " gap ".

Prosthetic appliance in the sense of the present invention refers not only to artificial limb, also refers to exoskeleton device or orthoses device and especially It is ectoskeleton or orthoses.

In a preferred design, quite a few of the magnetic field of magnetic field sources is passed through to be separated in shell and at least one of which At least one between unit and the especially two axial gap portions in opposite ends formation, with sealed sides axial gap.It is logical Cross the magnetic field passed through there, the magneto-rheological particles being present in axial gap mutually tie chain, thus carry out it is complete and Also effective sealing under high pressure.Alternatively or additionally, magnetic field can also be in the separating element and shell for being connected to damping shaft Between at least one radial clearance portion or gap impose effect, thus magnetic field work when also seal the radial clearance (gap Portion).

In a preferred improvement project, clearance portion described at least one of which is designed to damping clearance, at least within One clearance portion is designed to seal clearance.Here, at least one damping clearance preferably has between (many) bigger than seal clearance Gap height.Especially, the clearance height of damping clearance is at least or extremely twice or at least four times of the clearance height of seal clearance It is few octuple.Preferably the clearance height of seal clearance is greater than 10 microns, especially greater than 20 microns, preferably at about 20 microns to 50 Between micron.And the clearance height of damping clearance is preferably greater than 100 microns, preferably greater than 250 microns, clearance height preferably exists 200 microns and 2 millimeters.In expedients, the clearance height of damping clearance can be between 500 microns and 1 millimeter of (about).

In principle, all clearance portions help to damp or influence damping.(have larger gap high by damping clearance Degree) it can effectively be controlled by control device, so as to accurately adjust the braking moment of action.Via with larger gap The damping clearance of height can convey corresponding big volume flow.

Preferably, which includes at least one electric coil.Also it is possible that using two, the electric wire of three or more Circle is to form magnetic field sources magnetic field.Also it is possible that the magnetic field sources include that at least one permanent magnet or the magnetic field sources are associated at least One permanent magnet.

In advantageous modification, be respectively formed on two axial ends of the partition wall for being connected to damping shaft shell and (end side) axial gap portion or gap between partition wall.Preferably, the magnetic field of magnetic field sources at least quite a few pass through Two axial gap portions between shell and partition wall and the sealing for causing the two (end side) axial gap portions.In It is that the clearance portion is third space portion and the 4th clearance portion.Then, it is sealed in by the magnetic field between the axial direction of two end sides Gap.The control of percolation can also be affected by controlling the magnetic field strength at seal clearance.

But it with playing decisive role, is affected across the damping clearance or damping clearance portion.

Also it is possible that using non-rectangle separating element.Such as the separating element can be designed to semicircle and hold It is contained in the intracorporal corresponding semicircular tank of shell.Then, also occur having (part or main) axial orientation and (part or The gap mainly) being vertically oriented or clearance portion.Two clearance portions in the sense of the present invention may also mean that a continuous gap Different orientation section.

Two electric coils are preferably provided with, they are especially respectively adjacent to damping volume arrangement.Preferably, respectively have one it is controllable Electric coil respectively correspond and be associated with an axial gap.Especially, respectively there is a controllable electric coil respectively in axial direction outwardly Ground is mounted near an axial gap.

In all designs preferably, the trend in the magnetic field is transverse at least one of which clearance portion.

Especially, the magnetic field is transverse at least two, the clearance portion extension of three or more.By one transverse to gap The magnetic field that portion extends obtains very strong effect.Here, the magnetic field can be orientated perpendicular to clearance portion.But the magnetic field can also be oblique Across clearance portion.

A preferably at least radial clearance portion is designed to damp channel and is radially disposed be connected to damping Between the separating element and shell of axis.Also a feasible and preferably at least axial gap portion be designed to damp channel and Axis, which is upwardly arranged at, to be connected between the separating element of damping shaft and shell.

Especially preferably, axial gap and radial clearance all pass through magnetic field sources magnetic field and are sealed.

Preferably, magnetic field sources magnetic field at least quite a few pass through the damp channel.Especially preferably, magnetic field sources magnetic field At least quite a few pass through all clearance portions." quite a few " in magnetic field refer in particular to be more than 10% share, it is excellent Choosing is the share for being more than 25%.

Also it is possible that at least one clearance portion is sealed by mechanical sealing mechanism in all designs.Sealing mechanism Task be prevent or limit from a space to another space substance transfer, the pressure loss/pressure drop.Such machinery Sealing mechanism can be mechanical seal such as sealing lip, sealing strip, flat sealed, profile seal, gasket or O-ring or side Ring etc..For example, mechanical sealing mechanism can be passed through being connected to the clearance portion extended between the separating element of shell and damping shaft It is sealed, and bears magnetic field sources magnetic field in the clearance portion and axial gap portion being connected between the separating element of damping shaft and shell Effect to adjust out desired damping.

In particular it is preferred that the shell includes the first and second ends and therebetween includes in all designs Between portion.The middle part can also be especially made of more than two separate sections herein.Especially at least the one of two ends In a and especially accommodate an electric coil respectively in two ends.Here, coil axis is especially basically parallel to damping Axis orientation.Thus to obtain cramped construction, tight seal can get by magnetic field sources magnetic field at this time.Prosthetic appliance damper it is compact Structure is highly advantageous.

The shell is preferably at least most of by having the magnetic conductive material of the relative permeability greater than 100 to constitute.Opposite magnetic Conductance is especially greater than 500 or greater than 1000.At this time it is possible that entire shell consist of such materials or still substantially or It is at least most of to consist of such materials.The housing section of the adjacent damping volume of at least one of which is especially preferably by magnetic conductivity material Material is constituted.

Preferably, it is adjacent to along axial direction and electric coil and is provided with (independent) ring in shell.The ring is especially in axial direction On be arranged between the electric coil and the damping volume.

It is possible that the ring and/or electric coil essentially or nearly entirely or entirely compare damping body radially Product is more outward.The ring is preferably axially adjacent and abuts housing mid-section.The ring at least base is preferably in such design In sheet or completely by having the material of the relative permeability less than 10 to constitute.The relative permeability of ring material is especially less than 5 or very To less than 2.The ring is preferably made of not magnetically permeable material with regard to this.The ring can be for example made of austenitic steel.The ring Material has such magnetic conductivity, i.e., reliably prevents the magnet short-cut path in magnetic field sources magnetic field.The ring is especially set in such design Count into flat ring plate or open tubular column.

In other designs, the ring and/or electric coil (substantially) are arranged not close to housing mid-section.Then feasible and Preferably, the ring and/or electric coil is more inner radially and/or at least partially or fully neighbouring damping volume carrys out cloth It sets.The ring can be designed to hollow cylinder and especially be designed to hollow frustoconical.Then, axially towards outer Ground, the ring have wall thickness more smaller than radial inner part.The cross section of the ring has inclination trend.In such design In, which is preferably made of magnetic conductive material.The relative permeability of ring material then be preferably greater than 10, particularly preferably more than 50 and Especially greater than 100.This design is highly advantageous, because thus reliably preventing in electric coil regions via (axial direction) clearance portion It may leakage.The ring preferably has the frustoconical shape inside including hollow cylindrical and is made of magnetic conductive material.It is logical Such design is crossed, prevents the leakage in coil region in the case where coil is arranged in damping volume side side, especially When the magnetic field of effect is sufficiently strong so that when ring material magnetic saturation.

In all designs, enhance damping by the magnetic seal of the axial gap in end side.In addition, preventing by flowing out The pressure loss caused by magneto-rheological fluid in axial gap.

In all designs in particular it is preferred that magneto-rheological fluid by the relative pivoting action of damping shaft and shell via At least one (damping) gap is admitted to another chamber from a chamber.

It is feasible and preferably, it is formed on damping shaft and is scattered in more than two separating elements of surrounding.It is then preferred that Corresponding more than two separating elements for being scattered in surrounding are formed on shell.Preferably, one respectively is connected to damping shaft Separating element and one are connected to the separating element cooperation of shell.By multiple separating elements to maximum effective brake can be increased Torque.When only one separating element is formed on damping shaft and only one separating element is formed on shell, damping Maximum possible pivoting angle between axis and shell is generally less than 360 ° or (all fast) is equal to 360 °.If being respectively adopted two Separating element, then maximum pivoting angle reaches (generally slightly smaller than) 180 °.With this corresponding, if be equipped on damping shaft and shell Four separating elements then usually only may be implemented less than 90 ° or reach 90 ° of pivoting angle, in be generally sufficient to for knee joint Prosthetic appliance.When needing big braking moment, a kind of prosthetic appliance can be provided by simple means.

Preferably, corresponding many a chambers or chamber pair are formed in the separating element of respective numbers, then in pivot A portion chamber or chamber are to being respectively formed high-pressure chamber when transhipment is dynamic, and another part is respectively formed low-pressure chamber.It is excellent Selection of land, then the high-pressure chamber or low-pressure chamber are connected by corresponding interface channel, to be provided at any time individual high Press the pressure balance between chamber or individual low-pressure chamber.The validity of rotary damper does not negatively affect generally this Interface channel, because should have identical pressure at any time in all high-pressure chamber (low-pressure chamber) theoretically.But thing Show to improve by corresponding interface channel functional in fact and possible tolerance can be compensated.

The compensation mechanism with compensation volume is equipped in preferred design.The compensation mechanism is particularly for realizing leakage compensation And/or temperature-compensating.Volume compensation can be provided under varying temperatures by compensation mechanism.Furthermore it is ensured that preferably long Phase is functional, because can also compensate leakage loss for a long time without influencing functionality by compensation volume accordingly.

In the preferred design of all aforementioned embodiments and design scheme, which passes through a valve cell connection To described two chambers (high-pressure side and low-pressure side).At this point, the valve cell is preferably designed to establish in the compensation volume and one The connection of connection and blocking between compensation volume and high-pressure chamber between low-pressure chamber.In simple designs, the function Property provided by the bivalve of a valve cell, here, two valves of the valve cell when in adjacent chamber exist than compensating It is closed respectively when higher pressure in volume.Which results in when respective pressure in the low pressure chamber reduces or increases from compensation Volume exports mass volume automatically or it is entered in compensation volume.

In particularly preferred design, compensation mechanism or part of it are mounted in damping shaft.Which save structure spaces. This is insufficient in many prostheses.Damping shaft especially has cavity in inside.The cavity preferably can be from (at least) of damping shaft One axial end is close.Especially, at least part of cavity or entire cavity are designed to round hollow cylindrical or routine is set The hollow cylindrical of meter.In cavity or in open tubular column, be preferably formed as the sliding surface for piston separator, so as to by air chamber or Fluid chamber separates with the compensation volume for being especially filled with MRF.The compensation volume preferably by least one interface channel with At least one chamber is connected, to provide volume compensation in such as temperature fluctuation or MRF leakage loss.

The damping shaft can be designed to be integral type in all designs and improvement project.In preferred design, the resistance Buddhist nun's axis is arranged to two-piece type or three-member type or multi-piece type.Preferably, the two, three or more parts can mutual anti-rotation Dynamic connection or engagement.In a design in the hollow space that compensation mechanism is contained in damping shaft (hollow shaft) as previously described, It is preferably provided with connecting shaft, axially connects and anti-rotating is attached to the hollow shaft.Connecting shaft and hollow shaft preferably can be in axial directions It is upper to be mutually threadedly coupled.

In all designs preferably, surface of at least one channel from internal stretch to shell, the channel is in inside It is connected at least one chamber and can be for example closed by blocking in outer end.Then it can according to need outer connect outside one Portion's compensation mechanism.One cavity being perhaps present in damping shaft can be filled by the insertion piece.

It is preferred that being equipped at least one sensor, especially at least an angular transducer and/or at least one on the housing A displacement sensor.Absolute angle or displacement sensor and/or relative angle or displacement sensing can be set in preferred design Device.For example, by the absolute sensor of inaccuracy, approximation is then always provided, and utilizes relative sensors then in unsuccessful movement When determined can be available exact value.Thus " similar " correctly value, the control are for example constantly present after shutting down System can be started first with this.

It is preferably formed as an at least mechanical stop on shell and especially hull outside face, and damping shaft cooperation and mentions It is limited for effective pivoting angle, and the partition wall will not be walked to the end.This simplifies the Machine Designs of strength of parts.

The temperature sensor for detecting magneto-rheological fluid temperature is preferably provided in all designs.By such Temperature sensor can execute the control being matched with there is currently temperature, thus behavior and the magneto-rheological fluid of rotary damper Temperature is independently always.

In particular it is preferred that the damping loop of magneto-rheological fluid is disposed entirely in shell in all designs.Thus real Now very simple and compact structure.

Angle sensor is provided preferably with for detecting the numerical value of damping shaft angle position.It is possible thereby to realize damping according to angle Control.Such as the damping enhanced can be adjusted out near final position.

In all designs preferably, equipped with the load transducer for detecting the torque characteristic value on damping shaft.By This, can then carry out control relevant to load, for example most preferably to make full use of still available damping path.

In all designs it is also preferred that comprising at least one sensor device, it is used to detect the position of surrounding objects It sets and/or the distance away from it.Here, the control device preferred design and set up for according to sensor device sensing data Control the rotary damper.

In an advantageous modification, prosthetic appliance includes control device and/or multiple rotations especially interconnected Damper.Especially, the prosthetic appliance with multiple rotary dampers connected allows diversified purposes.Thus, for example The damper of multiple phase Internet controls can be packed into artificial leg utensil.

In all designs, the prosthetic appliance with rotary damper varied can be used.Prosthetic appliance of the present invention A remarkable advantage be the pressure drainage mechanism equipped with the magneto-rheological fluid as working fluid.As a result, by control device control System ground can adjust magnetic field sources magnetic field in a small amount of millisecond (less than 10 milliseconds or 20 milliseconds) in real time, therefore also in real time Regulate the braking moment being added on damping shaft.

The rotary damper of prosthetic appliance has pressure drainage mechanism.The pressure drainage mechanism has the pressure part of damping shaft and revolution. Here, the rotational motion (can monitor and control) of damping shaft can be damped.Pressure drainage mechanism includes as the magnetorheological of working fluid Fluid.It is associated at least one control device.In addition, being equipped with or comprising at least one magnetic field sources, there is at least one electricity Coil.Magnetic field sources can be controlled by control device and magneto-rheological fluid can be affected to adjust damping shaft and vacation by magnetic field The rotational motion of the connector of limb utensil damps.

This prosthetic appliance is highly beneficial.One advantage is the pressure drainage mechanism equipped with the magnetic as working fluid Pheological fluid.It, can be real under the control of the control device as a result, when rotary damper should apply corresponding braking moment When adjust the magnetic field of magnetic field sources in a little millisecond (less than 10 milliseconds or 20 milliseconds), therefore also regulate in real time neighbouring In the braking moment of damping shaft.The simple and compact structure of rotary damper and a small amount of component is needed, therefore can low cost Ground manufactures prosthetic appliance.

The simple and compact structure of prosthetic appliance of the present invention with rotary damper and a small amount of component is needed, therefore false Limb device itself can be used as (big) batch part and carry out low cost manufacturing.In all designs it is also feasible and preferably, the magnetic field sources Including at least one (additional) permanent magnet.Can produce purposive magnetostatic field by permanent magnet has for example to generate or to provide The basic torque of prescribed level.Magnetic field of permanent magnet can purposefully be reinforced or be weakened by the electric coil of magnetic field sources, thus should Magnetic field preferably can arbitrarily be adjusted between 0-100%.It as a result is exactly to generate corresponding braking moment, being preferably also can be in 0- It is adjusted between 100%.In the case where magnetic field is shut down or is reduced to low value it is possible that generating small or very little basic torque.

It is feasible and preferably, the magnetization by the permanent magnet of at least one magnetic field impulse of electric coil is continuously changed.? In such design, which is influenced by coil magnetic field impulse, so that the field strength of permanent magnet is continuously changed.Here, forever Magnet can be adjusted any between zero and permanent magnet magnetic remanence by the permanent magnetization of the magnetic field impulse of field generator for magnetic Value.Magnetized polarity is also variable.For adjusting the magnetic field impulse of permanent magnet magnetization especially less than 1 minute, preferably less than 1 second Clock is especially preferably equal to the pulse length less than 10 milliseconds.As the effect of pulse, intensity and shape in the intracorporal magnetic field of permanent magnetism Shape persistently remains unchanged.The intensity and shape in magnetic field can be changed by least one magnetic field impulse of field generator for magnetic.It is logical The demagnetization of permanent magnet can be carried out by crossing the magnetic alternating field being damped.

For example, AlNiCo is suitable as the material for this permanent magnet with variable magnetization, but can also be using tool There are the other materials of similar magnetic property.It is also feasible that instead of permanent magnet by the steel alloy with high residual magnetism (high magnetic remanence) Manufacture entire magnetic loop or part thereof.

It is possible that generating the magnetic field of long-term static using the permanent magnet, which can be superimposed by coil dynamic magnetic field to adjust Save out desired field strength.Here, can be by coil magnetic field come any change current field strength.Also can be used two can separate The coil of control.

In all designs preferably, which is at least partly made of retentive material, and coercive intensity is greater than 1kA/m, especially greater than 5kA/m, preferably greater than 10kA/m.

Permanent magnet can be at least partly made of following material, and the coercive intensity having is less than 1000kA/m, preferably small In 500kA/m, particularly preferably less than 100kA/m.

At least one accumulator is preferably provided in all designs.Especially the accumulator is rechargeable energy.It stores Energy device, which is specifically configured to, to be mobile and can be placed on prosthetic appliance or rotary damper, or is even integrated in it In.For example, accumulator can be designed to battery or battery.

Rotary damper can be used for the rotational motion between two components of damping, herein, such as the vehicle of motor vehicle The rotational motion of door or standby compartment cover or aerofoil profile car door or hood is damped.It can also come into operation on machine with damping Rotational motion on machine.

Prosthetic appliance of the invention for example can be set for hip, foot or arm and including at least one with rotation resistance The rotary joint of Buddhist nun's device.It can also use or be formed the prosthetic appliance as orthoses comprising at least one rotary damper. By corresponding manner, which also can be accordingly equipped with.

The rotary damper of prosthetic appliance described herein can have very compact structure and be manufactured inexpensively very much.It is logical The magnetic seal by magneto-rheological fluid is crossed, strong sealing function can be obtained.100 bars or more of high maximum pressure can be obtained Power.

It, can be by being loaded onto the electric current of electric coil without rank, variable and very quickly in prosthetic appliance of the invention Adjust force curve.

The prosthetic appliance can also advantageously be adjusted with computer or smart phone logical connection prosthetic appliance and/or Record its working method.Then ideal impose a condition is programmed in computer or smart phone.

One spring can be integrated into prosthetic appliance.Spring can be used as torsional spring, helical spring, leaf spring or air bullet Spring/gas spring is effectively connect with other parts.

Preferably, the two half portions couple in the power-off state (magnetic remanence in such as the aid of permanent magnet or field circuit) and Carry out any decoupling by electric current.

By feature ingenious, even if also can be with lower technical costs and expense when complex outline and profile change Obtain big pressure drop.

It such as in another of artificial limb or orthoses or ectoskeleton form prosthetic appliance of the present invention include rotary damping and shell Body, at least one magnetic field sources and the damping volume equipped with magneto-rheological fluid, damping volume are connected to damping by least one The separating element of axis is divided at least two (variable) chambers.Multiple clearance portions are formed between separating element and shell.Institute It states shell, magnetic field sources and separating element design and sets up for making the magnetic field of magnetic field sources by the master between separating element and shell Want clearance portion.

It is preferably provided at least one separating element, is connected to the shell.The shape especially between the separating element and axis At a clearance portion, can be full of by the magnetic field of magnetic field sources.

The separating element for being especially connected to the axis is designed to pivot fin.

A radial damping clearance and two axial seal gaps are preferably formed as between fin and shell pivoting.

Preferably include at least one magnetic field sources for having at least one controllable electric coil.Especially adjusted according to magnetic field strength Whole damping intensity.

Of the invention for damping in the method that the prosthetic appliance with rotary damper moves, the rotation of prosthetic appliance Damper has at least one magnetic field sources and the damping volume equipped with magneto-rheological fluid, which is connected by least one The separating element for being connected to damping shaft is divided at least two chambers.Multiple clearance portions are formed between separating element and shell.? Main clearance portion (as needed) between separating element and shell is flooded with the magnetic field of magnetic field sources to influence the damping and outstanding It adjusts damping intensity.

The magnetic field sources include at least one controllable electric coil and control damping intensity by magnetic field strength.Controlled magnetic field Preferably while being acted in main clearance portion.For this purpose, not only controlling the damping, the sealing intensity is also controlled, and then change Basic torque.Basic torque is then small in magnetic field strength hour.

Permanent magnet can also be installed in principle to seal in the intermediate gap MRF.A mountable permanent magnet or multiple herein Permanent magnet.In principle, they play the role of mechanical (rubber) sealing element.This is also unfavorable for the component swung and also in pressure Interior shifting in range.This sealing can also be realized in rectangular surfaces.Such sealing does not conform to electric coil (electric coil) or nothing Method is simply compatible because they must be actually integrated into magnetic loop by " placed in the middle ", preferably in no pressure region and with Fixed cable and approximately as coiler part.Therefore, it is complicated many when this installation is than permanent magnet.Especially when people want with Electric coil few as far as possible influences gap or even all gaps more than one respectively.In the present invention, coil is without compression Power and energy normal winding.In short, the structure can manufacture to cheap and simple very much.In addition, basic torque is with generated The intensity in magnetic field and change.It is very weak or when without magnetic field in magnetic field, the friction of very little is adjusted out, because gap is big.

In all designs, people can change pivoting angle by separating element quantity or fin quantity.At one In the case where separating element, about 300 ° of pivoting angle is obtained.In the case where two separating elements, pivoting angle is about 120 °, be about 40 ° in four fins.The separating element of setting is more, and transferable torque is bigger.

Also it is possible that more than two separating elements (pivoting fin) connect set before and after successive, that is series connection.One list Only separating element allows about 300 ° of pivoting angles.When output is pivotally connected to the shell of the second rotary damper by people, people 600 ° can be seen on the output shaft of the second rotary damper.When use is needed more than 300 °, people can increase pivot Gyration.This can be realized in a manner of saving structure space in appropriate staggered situation.

Applicant's beachhead demand protects the right of prosthetic appliance manufacturing method, here, carrying out the body of user in future first At least part of at least bidimensional of body or representative profiling or the scanning of three-dimensional.It, can be true using the data obtained at this time Fixed basic shape and size, here, manual amendment can be carried out.It especially can choose design.Preferably, identified structure Data are forwarded to processing unit (plant), here, such processing unit (plant) for example can be 3D printer, or may include such 3D printer.In the main body of real prosthetic appliance or the presumable reprocessing and/or decoration of shell and other components and portion After dividing the installation of (control, cable, rotary damper part, crust), it can execute if also needing to user's body Machinery adjustment.

Here, the manufacture can also be carried out in outside for example, by such as manual factory, service provider or other accessories suppliers.

In principle exist such as linear work process, herein at present each node have a service provider or industrial enterprise or Service.Future, whole process can be simplified by the concatenation for the procedure of processing participated.Therefore, some or even all may be used Collect and into service provider's hand or certain services are external coordinations.Such external coordination labor service for example can be by university or therapeutic machine Structure, contest mechanism, old soldier mechanism or rehabilitation institution provide.Service provider with 3D printer is also finally wherein.

It also can specify that substitution feasible pattern in some procedure of processings.Such as in 3 D-printing, a kind of substitution is optional Mode can be artificial limb offer movement or artificial limb main body process in CNC or by machine or craft by timber or its Its suitable material is processed or is for example carved.

A program or " application " can be used in the procedure of processing of design, whereby in input (or transfer) special parameter In the case of one common CAD program of operation (or substitution).That is body data is added into or inputs.In a such as dish Dan Zhong, people can input or select weight.It can choose certain design a model and/or technical parameter from existing bibliography. Such as the selection of certain magnetorheological modules (MRF module) also may be implemented.

Also it is possible that providing a program or suitable (body) structure of program offer.Service provider can also be with Such as provide training or installation.

Optionally, client usually can input some parameters by its computer or especially by its smart phone to select Mode is equipped with feature.

It is possible that prosthetic appliance mainly tightly setting be used for " damping ", especially when be not provided with spring or only setting one Little spring is decontroled for biasing with (unexpected).It is also feasible that spring, which is added,.For this purpose, a modular system can be set.It is drawing Stretch the damping in stage and compression stage and perhaps springing be feasible.

The embodiment explanation that other advantages and features of the invention are described from referring to the drawings, attached drawing are shown:

Fig. 1 shows the first prosthetic appliance of the invention with multiple rotary dampers；

Fig. 2 shows the second prosthetic appliances of the invention；

Fig. 3 shows office's cross-sectional view of the rotary damper of the prosthetic appliance according to Fig. 1；

Fig. 4 shows the schematic cross-sectional view of the rotary damper for prosthetic appliance of the present invention；

Fig. 5 shows the cross-sectional view of another rotary damper for prosthetic appliance of the present invention；

Fig. 6 shows office's cross-sectional view of the rotary damper of prosthetic appliance；

Fig. 7 shows the cross-sectional view of the rotary damper according to Fig. 6；

Fig. 8 shows the sectional view of another rotary damper for prosthetic appliance；

Fig. 9 shows the section B-B of Fig. 8；

Figure 10 shows the amplification details of Fig. 9；

Figure 11 shows the sectional elevation of the rotary damper of prosthetic appliance of the present invention, while drawing out magnetic field trend；

Figure 12 shows another sectional elevation of the rotary damper according to Figure 11, while drawing out magnetic field trend；

Figure 13 shows the cross-sectional view of the rotary damper of prosthetic appliance of the present invention；

Figure 14 shows prosthetic appliance damping shaft with different views；

Figure 15 shows the cross-sectional view of another rotary damper of prosthetic appliance；

Figure 16 shows the cross-sectional view of another rotary damper of prosthetic appliance of the present invention；

Figure 17 shows the prosthetic appliance with the rotary damper with torsion bar；

Figure 18 shows office's cross-sectional view of the rotary damper of another prosthetic appliance of the present invention；

Figure 19 shows the sectional elevation of the rotary damper of the prosthetic appliance according to Figure 18；

Figure 20 shows the longitudinal section view of the rotary damper of the prosthetic appliance according to Figure 18；With

Figure 21 shows an alternate embodiments of the rotary damper of the prosthetic appliance according to Figure 18.

Fig. 1 shows prosthetic appliance 100 of the invention, is designed to artificial leg 100 herein and rotates including one or more Damper 1.Artificial leg 100 of the invention includes the rotary damper 1 of three similar or identical designs of function herein, one of them turns Fluctuation dampers 1 are placed on hip joint, another rotary damper 1 disposes on knee joint, and third rotary damper 1 disposes On ankle-joint.These rotary dampers 1 are connected with each other and are also electrically connected to each other by fluid line 15, so as to realize The networking of prosthetic appliance 100 controls.Control device 7 and accumulator 37 are also integrated into prosthetic appliance 100.Rotary damper 1 Herein for reaching about 180 ° in rotary damper 1 or 90 ° of rotational motion is designed to knee joint and ankle-joint.

Fig. 2 shows being mounted on the prosthetic appliance 100 in lower extremities prosthesis form, wherein herein, also installing two mutually The rotary damper 1 of networking, i.e., one on elbow joint, one in wrist.

Fig. 3 shows the partial sectional view of the rotary damper of the prosthetic appliance 100 of such as Fig. 1.The rotation of prosthetic appliance 100 Damper 1 has shell 12 and damping shaft 3, they are designed to relatively rotate.Damping shaft 3 passes through sliding bearing 44 rotationally It is mounted in shell 12.Shell 12 is made of three sections or housing section herein, i.e. first end 22 and the second of the other end End 24 and the middle part 23 being arranged between.Herein, each or section are a discrete items, they are being installed When be coupled to each other.But also it is possible that individual or two components three housing sections of formation or section.

Accommodate a circular electric coil 9 respectively in two ends 22,24, magnetic field needed for being used to generate damping. The inner cavity of rotary damper 1 provides damping volume 60.Pressure drainage mechanism 2 is formed in the housing comprising separating element 4,5.Separate Unit 4,5 is divided into more than two chambers 61,62 for volume 60 is damped.Here, separating element 4 be designed to partition wall and It is fixedly connected to shell 12.Separating element 5 is also designed to partition wall or pivots fin and be fixedly connected to damping shaft 3.It is excellent Selection of land, separating element 5 are designed to integral with damping shaft 3.It damps volume 60 and is filled with magneto-rheological fluid 6 herein.Damping body Product 60 carries out external seal by the sealing 28 in housing section 22.In rotational motion, separating element 4,5 pressures are mounted in damping Magneto-rheological fluid (MRF) in volume, so that the MRF of a part overflows to another chamber from a chamber.

Magnetic field sources 8 in housing section 22 are made of electric coil 9 herein and can also include at least one permanent magnet 39, They, which are separately designed, circularizes and is contained in housing section 22.Herein in embodiment, electric coil 9 is equipped in two ends Perhaps there are also permanent magnets 39.Permanent magnet 39 subscribes regulation magnetic field strength, which can be modulated simultaneously by electric coil 9 Therefore it can be eliminated or increase.

Herein, two separating elements 4 are charged into damping volume 60 from radial inward shell.Separating element 4, which is formed, to be divided Next door and the possible rotational motion for therefore limiting damping shaft 3, also form two from damping shaft radially outward on damping shaft Separating element 5 outstanding.The rotation of damping shaft 3 rotates point next door 5 for forming pivot fin herein.

Here, the diametrically opposite remote ground peripheral hardware and herein axially inward respectively by one in embodiment of electric coil 9 A magnetic guiding loop or only the ring 20 of slightly magnetic conduction defines, the ring are moved towards for moulding magnetic field.Ring 20 is in open tubular column shape.

The interface channel 63 that also will be described in the explanation of Fig. 5 and Figure 14 can be seen in separating element 5 at this.

Fig. 4 shows the cross section of the rotary damper 1 of the prosthetic appliance 100 of institute's simple structure.The pressure drainage mechanism is herein Only include (unique) separating element 4, is radially extended into damping volume 60 from shell.Damping shaft 3 can be rotated Ground is contained in shell, here, only one separating element 5 radially extends on the damping shaft.Pass through the work of pressure drainage mechanism 2 For the separating element 4,5 of partition wall, damps volume 60 and be changeably divided into two chambers 61,62.When damping shaft rotates clockwise When, the volume of chamber 61 is reduced and the volume of chamber 62 is increased, and the volume of chamber 61 is corresponding when rotating backward movement Increase.

Fig. 5 shows the cross-sectional view of another embodiment, wherein herein, it is each there are two separating element be fixed on shell and On damping shaft 3.Therefore the separating element 4,5 being symmetrically arranged allows almost 180 ° of 3 rotary motion of damping shaft.Individually dividing Two chambers 61,61a and 62,62a are formed between unit 4,5.If damping shaft 3 is clockwise, chamber 61,61a High-pressure chamber is formed, and chamber 62,62a are then low-pressure chamber.

In order to cause the pressure balance between Liang Ge high-pressure chamber 61,61a, set between chamber 61,61a and 62,62a There is corresponding interface channel 63.

A diameter is formed between the radial outer end of separating element 5 and the inner peripheral surface of damping volume 60 cylindrical in principle To gap 27, it is in this as damp channel 17.In addition, being formed between the radial inner end and damping shaft 3 of separating element 4 multiple Radial clearance 26.The gap 26 be arranged to allow herein damping shaft 3 it is perfect rotatably, and reliably avoid damping The magneto-rheological particles in magneto-rheological fluid in volume 60 are stuck at gap 26.For this purpose, gap 26 must have at least one Greater than the clearance height of the maximum gauge of the particle in magneto-rheological fluid.

The big gap 26 that this size reaches about 10 microns to 30 microns would commonly be used for that significant leakage current is allowed to flow through Gap 26.Thus it effectively prevent forming pressure in chamber 61 or 62.This is so prevented according to the present invention, gap 26 Magnetic fields are born, at least also realize the magnetorheological sealing in gap 26 when braking moment should be loaded.Thus carrying out can By sealing, so as to avoid the pressure loss substantially.

Fig. 6 shows another embodiment of the prosthetic appliance 100 according to the present invention with rotary damper 1.Rotary damping Device 1 has the damping shaft 3 that may be rotatably mounted in shell 12.Damping shaft 3 or shell are connected to the connector that can be relatively rotated with respect to each other 11,13.Damping volume 60 is divided into chamber 61,62 again by separating element 4,5, just as in the embodiment according to Fig. 5.

Herein, shell 12 is also made of three shell parts or housing section, wherein in axial outer housing section One is accommodated respectively for generating the electric coil 9 in required magnetic field.

By current terminal 16, electric energy is supplied in rotary damper 1.Sensor device 40 is for detecting angle position.May be used also Energy is the temperature value that magneto-rheological fluid is predicted with sensor device.Signal is transferred to be carried out by signal wire 48.

4 position of separating element is fixedly housed in shell 12 and is preferably loaded into during installation in the shell and therewith It is fixedly connected.The magnet short-cut path in 4 region of separating element in order to prevent, preferably sets between separating element 4 and housing section 22 or 24 There is insulator 14.

Compensation mechanism 30 can be seen in Fig. 6 comprising the air chamber 32 being externally closed by lid 35.Piston separator 34 are inwardly connected to always air chamber 32, and piston separator separates air chamber 32 and compensation volume 29.Compensate volume 29 Compensation is provided filled with magneto-rheological fluid and in temperature fluctuation.In addition, compensation volume 29 occurs as in continuous operation Leakage loss object storage chamber.

Fig. 7 shows the cross section of the rotary damper of the prosthetic appliance according to Fig. 6, wherein can see that respectively there are two right herein The separating element 4,5 set is arranged in the housing or is fixed on damping shaft 3.Between individual separating element 4,5, damping Occur chamber 61,61a and 62,62a in volume 60.Due to being installed respectively into two separating elements 4,5, the torque pretended can add Times.Volume 29 is compensated to be connected by channel 36.

Channel 36 extends into damping volume 60 in the edge of separating element 4, so as to also in damping shaft 3 and shell 12 Between maximum rotary motion when provide with compensation volume 29 connection.In this design, which must be in maximum work Make to be preloaded under pressure, way is that air chamber 32 receives relevant pressure.This preloading can also pass through mechanical parts such as spiral shell Spring is revolved to apply.

Fig. 8 shows the cross section of the rotary damper 1 of another embodiment of prosthetic appliance 100 according to the present invention.Rotation Damper 1 has two separating elements 4,5 again respectively, they are connected to the shell or damping shaft 3.It also is provided with two electricity herein Coil, but they can't see in the view according to Fig. 8 because they one be arranged before section plane, one behind.

Radially outerly between interior housing wall and the radial outer end of separator 5 formed a gap 27, the gap in order to It damps and receives corresponding magnetic fields.It is radial to be respectively formed a gap between the inner end of separator 4 and damping shaft 3 innerly 26, which is sealed by magnetic field.

Different from first embodiment, compensates volume and be connected herein at center.Compensation volume 29 is connected to by channel 36 To separating element 4.

Fig. 9 shows the cross section B-B of Fig. 8, and Figure 10 shows the amplification details of Figure 10.Such as Figure 10 of channel 36 is schematically drawn And it is connected to a channel, valve cell 31 is equipped in the channel, which is designed to bivalve unit herein.Valve cell 31 Opposite ends in channel include two valve head 31a.Sealing 33 when respective valve head 31 is arranged in its valve seat for sealing.It is logical Road 36 is passed through middle area.

There are the valve heads 31 of the side of elevated pressures, valve cell 31 to be pressed into corresponding valve seat.In the other side, valve head Thus 31a is lifted away from valve seat and allows to flow freely and is connected to channel 36 and and then compensates volume 29.Temperature fluctuation can be mended as a result, It repays.In addition, magneto-rheological fluid is transferred to damping volume from compensation volume when there is leakage loss.

One advantage of the structure is, the compensation volume only need under relatively low 2,3,4 or 5 bars of pre-loaded pressure quilt It preloads, because compensation volume is always connected to the low-pressure side of rotary damper rather than is connected to high-pressure side.Such design Reduce the load for acting on sealing and enhances long-time stability.If the compensation volume communication to high-pressure side, 100 bars or more Pre-loaded pressure may be meaningful.

Figure 11 and Figure 12 shows the cross section of the rotary damper 1 of prosthetic appliance 100, is shown different transversal Face.Figure 11 shows a cross section, here, separating element connected to the housing 4 is shown in section.By in shell side 22, the non-magnetic insulators between 24 and partition wall 4 determine that the magnetic field line drawn trend occurs in ground.Here, magnetic field line passes through Therefore radial direction between the inner end and damping shaft 3 of separating element 4 seals by internal clearance 26 and reliably the gap there.Work as magnetic When field is shut down, damping is also weakened and low basic friction occurs.

In the cross-sectional view according to Figure 11 it can be seen that for the sliding bearing 44 of support rotating shaft and for sealing inner cavity Sealing 28.

Figure 12 shows the cross section of the rotary damper 1 of prosthetic appliance, wherein herein, section by damping shaft 3 and with Connection separating element 5.Another is connected with damping shaft 3 and opposed separating element 5 is not shown cut-away along a substantially vertical jagged line out herein.In Figure 12 Also the trend of magnetic field line is drawn out in citing.The axial gap 25 being clearly seen between separating element 5 and housing section 22,24 herein It is sealed by magnetic field.In addition, the radial clearance 27 between the radial outer end and shell of separating element 5 is also subjected to magnetic fields, from And magneto-rheological particles tie chain and seal clearance there.

The rotary damper 1 that Figure 13 is shown again not by the schematic cross-section of full size, wherein herein, in upper half Portion shows the section by damping shaft 3 and the separating element 5 being attached thereto, and connected to the housing point is shown in lower half Every the section of unit 4.Such as magnetic field line is drawn out respectively.It is excellent there are narrow gap 26 between separating element 4 and damping shaft Select the clearance height having between about 10 microns to 50 microns.In the axial direction, separating element 4 is close to side body portion.

There is an axial direction respectively there are radial clearance 27 between separating element 5 and shell 12 and in two axial end sides Gap 25.

Generally, the axial gap 25 has the clearance height more small than radial clearance 27.The gap of axial gap 25 Width is preferably similar to the gap width of radial clearance 26, and preferably between about 10 microns and 30 microns.Radial clearance is wide Degree 27 is preferably big many, and preferably between about 200 microns and 2 millimeters, especially preferably between about 500 microns and 1 millimeter.

When damping shaft 3 rotates, the volume of a chamber is reduced, and the volume of another chamber is increased.At this point, magnetic Pheological fluid must be transferred to another chamber from a chamber basically by gap 27.Gap 27 is used as damp channel herein 17.As clearly shown in Figure 13, damp channel 17 is passed through by magnetic field line, therefore can produce variable flow resistance.

Axial gap 25 is sealed also by magnetic field, be certainly its magnetic field strength be selected to its can not be guided again through When overdamp axis 3.That is, it turns out that, with magnetic field-enhanced, entire magnetic field can not be directed over damping shaft 3 again, but also edge Entire axial gap 25 is sealed axially across axial gap 25, thus as intensity increases.It is realized with corresponding field strength Corresponding sealing.

As already described, in the case, in this non-magnetic ring 20 for preventing the magnetic on electric coil 9 short Road.

Figure 14 is shown provided with the variant view of the damping shaft 3 there are two separating element, wherein separating element 5 and the edge 5a Oblique angle line is opposed, to obtain symmetrical structure.Two interface channels 63 can be seen in Figure 14, they are opposed by two respectively Chamber 61,61a or 62,62a are connected.In order to allow the pressure balance between Liang Ge high-pressure chamber and Liang Ge low-pressure chamber, And the pressure-exchange or fluid communication of a high-pressure chamber and a low-pressure chamber can be only realized via damp channel 17.

Figure 15 shows the cross section of the rotary damper 1 of another prosthetic appliance.Rotary damper structure very little, therefore allow Small-sized light and handy prosthetic appliance.The rotary damper 1 of Figure 15 can be used in all embodiments and be base for structure This is identical.The separating element 4 for being connected to shell is seen in cross section.By the magnetic between shell side 22,24 and partition wall 4 Insulator 14 has obtained the magnetic field line trend similar to Figure 11 with determining.When magnetic field is shut down, also weaken the damping herein And obtain low basic friction.Ring 20 is designed to be magnetic conduction herein, to guarantee side axial gap in 5 region of separator Reliable sealing.The sealing is reliably obtained when there are sufficiently large magnetic field strength.Herein, it can also see as in fig. 11 To the sliding bearing 44 for support rotating shaft and the sealing 28 for sealing inner cavity.

Electric coil 9 is diametrically disposed in damping volumetric region.It is pivoting in tab area, is passing through the band open tubular column of ring 20 Frustoconical shape also obtain the reliable sealing of side axial gap 26.The ring 20 being made of herein magnetic conductive material is used for It pivots in fin or 5 region of separator and reliably seals axial seal gap 26.

Figure 16 is shown similar to the modification of Fig. 7, wherein two separating elements are fixed on shell and damping again respectively herein On axis 3.Therefore the separating element 4,5 being respectively arranged symmetrically allows almost 180 ° of 3 rotational motion of damping shaft.Separate list individual Liang Ge high-pressure chamber and Liang Ge low-pressure chamber are respectively formed between member 4,5.Separating element 4,5 is rounded herein and is conducive to fluidly It constitutes, so as not to realize that flowing is eliminated, thus avoids the undesirable precipitating from magneto-rheological fluid.It can also be equipped with benefit Repay the compensation mechanism 30 of volume 29.

Figure 17 finally also shows one embodiment, wherein here, the additional outfit of the rotary damper 1 of prosthetic appliance 100 There is the spring in torsion bar form.At this point, the damping shaft is connected with side, and the shell is connected with the other side, so that component is mutual Between relative motion or relative rotation can be by rotary damper 1 by controllable damping.These components may be it is adjustable and It can be completely uncorrelated.Thus a kind of active prosthetic appliance is provided, can be conditioned for different conditions.

In addition, in Figure 17 the damping shaft 3 be arranged to it is hollow.It is provided in damping shaft in such as torsion bar form Spring, so as to realize the reset of the spring force by spring 47.

Figure 18 illustrates another rotary damper 1 of another prosthetic appliance 100 with broken section, here, rotary damper 1 In principle with such as according to the rotary damper of the prosthetic appliance of Fig. 3 100 it is just the same play a role.Therefore, with regard to this Can using identical appended drawing reference and above description can equally be well applied to Figure 18-20 prosthetic appliance 100 or corresponding turn Fluctuation dampers 1, unless obtaining in this stated otherwise or supplementary explanation or from attached drawing corresponding situation.

Figure 21 shows a modification of the rotary damper 1 of the prosthetic appliance 100 according to Figure 18.

The prosthetic appliance 100 of Figure 18 or the rotary damper 1 of ectoskeleton also have shell 12 and damping shaft 3, they are designed At can relatively rotate.Damping shaft 3 can be may be rotatably mounted in shell 12 by rolling bearing 4.Damping shaft 3 is overall with three herein Formula is constituted, as described in Fig. 20.

Shell 12 is including first end 22 and in the second end 24 of the other end and set on middle part 23 between the two. Outer casing section 12a is also accommodated at both ends, is formed with screw thread mouth thereon.It is formed on its radially outer housing section 12a non-circular Profile 70 is connected, there are multiple recesses in appended drawing reference line terminal region.It is non-that multiple recesses for being scattered in surrounding form this Other components with hip prosthesis, knee prostheses, sufficient prosthese, elbow prosthese or such as shoulder prosthesis may be implemented in circle connection profile whereby Anti-rotating connection.

Accommodate a circular electric coil 9 respectively in two ends 22 and 24, magnetic needed for being used to generate damping ?.

The magnetic field is as being controllable in all embodiments.As in all embodiments and design, in magnetic field Stronger damping (braking action) is generated in stronger situation.Meanwhile gap 25,26 and 27 is also obtained more by stronger magnetic field Good sealing (see according to the schematic diagram of Figure 13).On the contrary, all embodiments and design in, adjusted out by weaker magnetic field compared with Weak damping (braking action).Meanwhile compared with low-intensity magnetic field, the sealing at the 25-27 of gap is also weaker.It consequently leads to The lower basic torque acted under no magnetic field conditions.The sealing function of gap 25-27 is weak under no magnetic field conditions.As a result, Broader adjustable range can be provided, this does not accomplish in the prior art.Torque capacity (or braking limit) with most The ratio between small torque (or minimum braking action) is very big in predetermined pivot angular range or in working range and is greater than existing There is technology.

And in traditional artificial limb rotary damper, minimum torque is suitable when that should generate high torque capacity Greatly.The reason is that clearance seal must so be completed, even if there have high pressure effect also to guarantee to be reliable or still adequately close Envelope.On the contrary, small torque capacity is only obtained in the artificial limb rotary damper that should have small braking moment in idle running, because of institute Sealing is stated to be designed to only occur slightly rubbing.When there is big effective pressure, which is used for considerable leakage stream, obvious Limit maximum possible torque.

The interior room of rotary damper 1 provides damping volume.Pressure drainage mechanism 2 is formed in shell comprising separating element 4,5.Separating element 4,5 is divided into more than two chambers 61 and 62 for volume 60 is damped.Here, separating element 4 is designed to It partition wall and is fixedly connected to shell 12.Separating element 5 be also designed to partition wall or pivot fin and be fixedly connected to Damping shaft 3.

Separating element 5 is preferably designed to and 3 one of damping shaft.It damps volume 60 and is filled with magneto-rheological fluid 6, damping herein Volume 60 carries out external seal by the sealing 28 in housing section 22.In rotational motion, separating element 4,5 pressures go out to hinder Magneto-rheological fluid contained by Buddhist nun's volume (MRF), so that MRF a part overflows to another chamber from a chamber.Interface channel or Channel 63 is compensated for the pressure balance between chamber 61 and 61a.Corresponding second interface channel 63a (see Figure 20) is used for chamber Pressure balance between 62 and 62a.

In rear end, valve 66 can also be seen in Figure 18, and compressible fluid is packed into compensation mechanism 30 whereby.Especially adopt Use nitrogen.Valve 66 can be for example integrated into the blocking or lid being screwed into.

In front end, mechanical stop 64 can be seen outside the shell 12 of rotary damper 1 in Figure 18, mechanical stop is with machinery Mode defines possible slewing area to pivot fin against wound in internal protection.

Magnetic field sources 8 in housing section 22 are made of multiple electric coils 9 herein, and each electric coil design is circularized and accommodated In housing section 22.Here, electric coil 9 is arranged in two ends in embodiment.Magnetic field strength can by control device come Setting.

Here, two separating elements from be projecting radially inwardly into shell damping volume 60 in.Separating element 4 forms partition wall And the presumable rotation of damping shaft 3 is therefore limited, it also forms on damping shaft two and is projected radially outwardly from damping shaft Separating element 5.The rotation of damping shaft 3 causes the rotation for forming the partition wall 5 for pivoting fin herein.Chamber 61,61a are accordingly contracted It small (see Figure 19) or is extended again.

Four ventilation valves can also be seen in Figure 19, they are used in prototype to obtain faster ventilation and emptying simultaneously And they perhaps nor is it necessary that (all) Yao Shixian's.

Also as shown in figure 20, electric coil 9 herein in embodiment it is diametrically opposite far it is radially outer arrangement and in axis Up towards being defined respectively by a ring 20 non-magnetic or that magnetic conductivity is poor interiorly, which moves towards for moulding magnetic field.Ring 20 is outstanding It is at hollow cylindrical.

Compensation mechanism 30 can be seen according to fig. 20 entire longitudinal section, it is mounted on herein in damping shaft 3.Compensation Mechanism 30 includes the compensation volume 29 filled with MRF, is separated by the piston separator 34 of activity placement with air chamber 32. Air chamber 32 and piston separator 34 and compensation volume 29 are all mounted on the accommodation space of hollow cylindrical in damping shaft 3 completely In 30a.Open tubular column 30a is closed at axial outer end by the blocking with valve 66.The design allows very compact and saves The structure in space, only seldom substantially cylindrical rotary damper 1 is prominent in principle for part at this time.This improves this vacation The installation of limb utensil 100 and use possibility.

Compensation mechanism 30 is connected to by unshowned channel into Figure 20 in Figure 18 and is closed herein by closure member 71 Channel 72.Thus optionally it is possible that connecting external compensation mechanism 30 and internal installation insertion piece to be filled substantially with sky The volume of stem 30a.Thus very big temperature range can for example be compensated.Also it is possible that when guaranteeing very long operation to this Between, even if when slightly leaking.

Can be clearly seen in Figure 20 be herein three-member type damping shaft 3, herein by hollow shaft 3a, connecting shaft 3b and prominent Portion 3c is constituted out.The mutual anti-rotating connection in these three parts.Also it is possible that damping shaft 3 is only come with two-piece type or also with single type It constitutes.

Figure 21 shows a modification of the embodiment according to Figure 18 to Figure 20, wherein connecting upper external compensation mechanism at this 30.Other components can be identical.In fact, on the rotary damper 1 according to Figure 18, closure member 71 can be removed and Shown in external compensation mechanism be screwed and load onto.Form air chamber or fluid chamber 32 in inside, by piston separator 34 with Compensation volume 29 filled with MRF separates.

In the inside of open tubular column 30a, installation insertion piece 67 is to be full of the volume.

Two angular transducers 68,69 are also equipped with according to fig. 21 embodiment.Here, an angular transducer 68 Absolute angle position is detected with lower accuracy, and angular transducer 69 detects relative angle position with degree of precision.Thus it can provide height essence True sensing system, it is durable, reliable and also accurately work very much.

In short, providing a kind of advantageous prosthetic appliance 100 with rotary damper 1.In order to compensate MR liquid (MRF) The volume expansion as caused by temperature with adjoining members and be significantly equipped with enough compensation volumes.

In one particular case, each individual actuators or rotary damper need about 50 milliliters of MRF, it is therefore desirable to about 150 milliliters equal for whole system.Nitrogen volume is preferably as pre-add casting die, and about 75 bars of the especially precharge of pre-add casting die.

In this example using the coil line of the effective cross section with 0.315 square millimeter.400 coils are obtained 16 About 65% volumetric efficiency in the case of Ohmic resistance.Bigger coil speed can also be obtained using biggish linear diameter.

It is preferred that adjusting out the partition wall or the pivot fin axial gap.Have for the perfect function of actuator Benefit is to find and adjust the axial position for pivoting fin 5 relative to shell.Ring, benefit can be for example adjusted using screw thread thus Center is placed into amesdial.

The filling of MRF is carried out in one particular case, and herein, the MRF that 75 milliliters of (just) is charged.In order to fill out It fills, MRF can be filled through overcompensation volume.In the case where pivot fin mutually moves, MRF can be dispersed in chamber 61,62 In (pressure chamber) and air inclusion can be delivered up.Then the system can be preloaded with nitrogen (about 5 bars).Then, Vented screw 65 on the lateral surface of shell 12 is turned on so as to air entrainment evolution.Finally, nitrogen chamber 32 is preloaded To 30 bars so as in inspection desk initial survey.

As Optimized Measures, the actuator of walking mechanism component 100 can also be placed in subnormal ambient, so as to can be preferably The empty presumable air inclusion of pump drainage.

High pressure is achieved with without mechanical seal.Prosthetic appliance 100 with rotary damper 1 can be made at low cost It makes, durable and service life.

The braking moment greater than 210Nm is obtained in inspection station in this specific example.The structure of the unit is than existing skill Art is smaller, lighter and more cheap.

Switching time less than 30 milliseconds is possible and can be proved (fully loaded transition).

Braking moment can arbitrarily change.Mechanical moving element is not needed thus.The control simply only passes through electric current Variation or changes of magnetic field are realized.

A remarkable advantage is obtained because mechanical seal is lacked.Thus to obtain the very low basic torque for being less than 0.5Nm. This so accomplishes, not only braking moment, there are also the sealing functions of the sealing to be controlled simultaneously.Generally there are very low Such as the power demand of several watts.

Rotary damper 1 may be mounted to that in different prosthetic appliances 100.May be used as hip (portion) prosthese, knee prostheses, Foot, elbow, shoulder (portion) prosthese.Here, the rotary damper 1 by accordingly adjusting can be packed into.Here, being sized can match In desired power to be applied and torque.Corresponding scale may be implemented.

In all designs, prosthetic appliance 100 can be designed to artificial limb, orthoses or ectoskeleton.

Reference signs list

1 rotary damper

2 pressure drainage mechanisms

3 damping shafts

3a hollow shaft

3b connecting shaft

4 separating elements, partition wall

5 separating elements, partition wall

6 MRF

7 control devices

8 magnetic field sources

9 electric coils

10 magnetic fields

11 connectors (on 12)

12 2 shell

12a outer casing section

13 connectors (on 3)

14 insulators

15 hydraulic lines

16 current terminals

17 damp channels

19 3,9 axis

Ring in 20 12

22 first ends

23 middle parts

24 the second ends

25 gaps, axial gap

26 gaps, radial clearance

27 gaps, radial clearance

Sealing on 28 3

29 compensation volumes

30 compensation mechanisms

30a open tubular column

31 valve cells

31a valve head

32 air chambers

33 sealings

34 piston separators

35 lids

36 channels

37 accumulators

39 permanent magnets

40 sensor devices

41 spacing

42 23 sealing

43 gaps

44 bearings

45 load transducers

46 arms

47 springs, torsion bar

48 sensor conductors

52 valve cells

53 directions of motion

54 accumulators

55 arrow directions

60 damping volumes

61 chambers

62 chambers

63 interface channels

The second interface channel of 63a

64 mechanical stops

65 exhaust bolts

66 nitrogen valves

67 insertion pieces

68 sensors

69 sensors

70 non-circular connection profiles

71 plugs

72 channels

100 prosthetic appliances

Claims

1. one kind has the prosthetic appliance (100) of rotary damper (1), which has shell (12), can be rotated Mode accommodates damping shaft (3), at least one magnetic field sources (8) and the pressure drainage mechanism in the shell (12) on the housing (2), wherein the pressure drainage mechanism (2) has includes the damping volume (60) of magneto-rheological fluid (6) as working fluid and borrow This can be operable to the damping for influencing rotational motion of the damping shaft (3) relative to the shell (12), wherein the pressure Mechanism (2) includes at least two separating elements (4,5), and damping volume (60) is divided at least two variable chambers whereby (61,62), separating element (4,5) described in wherein at least one includes the partition wall (4) for being connected to the shell (12), wherein extremely A few separating element (5) includes the partition wall (5) for being connected to the damping shaft (3), wherein in the damping shaft (3) and It is connected between the separating element (4) of the shell (12) and forms clearance portion (26) radially, and in the shell (12) it and is connected between the separating element (5) of the damping shaft (3) and forms clearance portion (27) radially, wherein even It is connected between the separating element (5) of the damping shaft (3) and the shell (12) and forms at least one clearance portion in the axial direction (25), characterized in that the magnetic field (10) of the magnetic field sources (8) at least quite a few pass through at least two of which described in gap Portion (25-27).

2. prosthetic appliance (100) according to claim 1, wherein clearance portion described at least one of which (27) is designed At damping clearance, and clearance portion described at least one of which (25,26) is designed to seal clearance, and at least one is damped Gap (25) has the clearance height bigger than the seal clearance.

3. prosthetic appliance (100) according to any one of the preceding claims, wherein the magnetic field sources (8) include at least One electric coil (9).

4. prosthetic appliance (100) according to any one of the preceding claims, wherein be connected to the damping shaft (3) The partition wall (5) two axial ends at respectively between the shell and the partition wall (5) formed an axial direction between Gap portion (25), wherein quite a few of the magnetic field (10) of the magnetic field sources (8) is passed through in the shell (12) and described Two axial gap portions (25) between partition wall (5) and the sealing for causing the axial gap portion (25).

5. prosthetic appliance (100) according to any one of the preceding claims, wherein be equipped at least two electric coils (9).

6. prosthetic appliance (100) according to any one of the preceding claims, wherein the magnetic field (10) is transverse at least One of them described clearance portion (25-27) extends.

7. prosthetic appliance (100) according to any one of the preceding claims, wherein at least one radial clearance portion (27) It is designed to damp channel (17) and is diametrically disposed between the separating element (5) and the shell (12), and/or extremely A few axial gap portion (25) is designed to damp channel (17) and is arranged in the separating element (5) and described in the axial direction Between shell (12).

8. prosthetic appliance (100) according to claim 7, wherein the magnetic field (10) of the magnetic field sources (8) is at least Quite a few passes through the damp channel (17).

9. prosthetic appliance (100) according to any one of the preceding claims, wherein at least one clearance portion (27) passes through Mechanical sealing mechanism is sealed.

10. prosthetic appliance (100) according to any one of the preceding claims, wherein the shell (12) includes first End and the second end (22,24) and therebetween include middle part (23), wherein in two ends (22,24) extremely An electric coil (9) is especially accommodated in a few end and in two ends (22,24), wherein the coil (9) Axis (19) is especially basically parallel to the damping shaft (3) orientation.

11. prosthetic appliance (100) according to any one of the preceding claims, wherein at least phase of the shell (12) When a part is by having the magnetic conductive material of the relative permeability greater than 100 to constitute.

12. prosthetic appliance (100) according to any one of the preceding claims, wherein axial in the shell (12) It is equipped with ring (20) with being adjacent to the electric coil (9).

13. prosthetic appliance (100) according to claim 12, wherein the ring (20) at least quite a few by having The material of relative permeability less than 10 is constituted.

14. prosthetic appliance (100) according to claim 13, wherein the ring (20) is arranged in the electricity in the axial direction Between coil (9) and the damping volume (60).

15. prosthetic appliance (100) according to claim 14, wherein the ring (20) has in radial outside region Than radially more by smaller wall thickness in inner region and/or the ring (20) substantially by having the relative permeability greater than 50 Material is constituted.

16. prosthetic appliance (100) according to any one of the preceding claims, wherein the magneto-rheological fluid (6) passes through The relative pivoting action of the damping shaft and the shell is via at least one clearance portion (25-27) from a chamber (61,62) It is admitted to another chamber (62,61).

17. prosthetic appliance (100) according to any one of the preceding claims, wherein formed on the damping shaft (3) It is more than two to be scattered in the separating element (5) around arranged, and more than two dispersions are formed on the shell (12) In the separating element (4) of surrounding arrangement.

18. prosthetic appliance (100) according to claim 17, wherein opposed chamber (61,61a；62,62a) by extremely A few interface channel (63) is connected.

19. prosthetic appliance (100) according to any one of the preceding claims, wherein being equipped with has compensation volume (29) Compensation mechanism (30).

20. prosthetic appliance (100) according to claim 19, wherein the compensation volume (29) passes through valve cell (31) Described two chambers are connected to, wherein the valve cell is designed for establishing the compensation volume (29) and low-pressure chamber (62； 61) connection between and the compensation volume (29) and high-pressure chamber (61 are blocked；62) connection between.

21. prosthetic appliance (100) according to claim 20, wherein the valve cell (31) has bivalve.

22. the prosthetic appliance (100) according to any one of first three items claim, wherein compensation mechanism (30) peace In the damping shaft (3).

23. prosthetic appliance (100) according to any one of the preceding claims, wherein the resistance of the magneto-rheological fluid (6) Buddhist nun's circulation is disposed entirely in the shell (12).

24. prosthetic appliance (100) according to any one of the preceding claims, characterized in that equipped with described for detecting The temperature sensor (34) of the temperature of magneto-rheological fluid (6) and/or the angle of the angle bit value for detecting the damping shaft (3) The load transducer of sensor (40) and/or the characteristic value for detecting the torque on the damping shaft (3).

25. prosthetic appliance (100) according to any one of the preceding claims, wherein be equipped at least one sensor and fill (40) are set, which includes that at least one is used to detect the position of surrounding objects and/or away from the surrounding The position sensor and/or range sensor of the distance (41) of object, wherein the control device (7) design and set up for according to The rotary damper is controlled according to the sensing data of the sensor device.

26. prosthetic appliance (100) according to any one of the preceding claims, which includes control device (7) With multiple rotary dampers (1) interconnected.

27. one kind have rotary damper (1) prosthetic appliance (100), the rotary damper have shell (12), at least one Magnetic field sources and damping volume equipped with magneto-rheological fluid, the damping volume is by being connected at least one point of damping shaft (3) It is divided at least two chambers (61,62) every unit (5), wherein being formed between the separating element (5) and shell (22-24) Multiple clearance portions (25-27), characterized in that the shell (22-24), the magnetic field sources (8) and the separating element (5) design And it sets up for making the magnetic field of the magnetic field sources (8) across the master the separating element (5) and the shell (22-24) The clearance portion (25-27) wanted.

28. prosthetic appliance (100) according to claim 27, wherein be connected to point of the shell equipped at least one Every unit (4), wherein forming a clearance portion (26) between the separating element (4) and axis (3), the clearance portion can be by The magnetic field of the magnetic field sources (8) is full of.

29. the prosthetic appliance (100) according to any one of preceding two claims, wherein be connected to point of the axis (3) It is designed to pivot fin every unit (5).

30. prosthetic appliance (100) according to claim 29, wherein in the pivot fin (5) and the shell (22- 24) a radial damping clearance (27) and two axial seal gaps (25) are formed between.

31. a kind of method for damping the movement of the prosthetic appliance (100) with rotary damper, wherein the rotary damping Device has at least one magnetic field sources and the damping volume equipped with magneto-rheological fluid, and the damping volume is by being connected to damping shaft (3) at least one separating element (5) is divided at least two chambers (61,62), wherein in the separating element (5) and shell Multiple clearance portions (25-27) is formed between (22-24), characterized in that be full of in the separation with the magnetic field of the magnetic field sources (8) Main clearance portion (25-27) between unit (5) and the shell (22-24) is to influence the damping.